Robotic System for Sorting Sample Tubes

ABSTRACT

A robotic system is provided for accurately and quickly sorting sample tubes within or between sample tube racks.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.62/274,133, filed on Dec. 31, 2015, and U.S. Provisional Application No.62/301,365, filed on Feb. 29, 2016, both of which are incorporatedherein by reference in their entireties.

FIELD OF THE INVENTION

The invention relates to a robotic system for sorting of sample tubes,in particular a system for sorting uniquely coded sample tubes todesired locations for processing operations and analysis of the samples.

BACKGROUND

Samples that are obtained from individual are often processed oranalyzed in many different operations or diagnostic tests. Samples frommany individuals may be conveniently contained in sample tubes that arestored in a sample tube rack. The tubes may then be sorted fordownstream analytical or processing operations which may be differentfor each sample. Sorting tubes by hand is cumbersome, time consuming,and error prone. Mechanical grippers for moving sample tubes from onelocation to another include parts that can wear out, require complicatedconstruction and control mechanisms, and may cause increased wear on thesample tubes. Moreover, coded information on the sample tubes may beread one tube at a time, as the gripper passes the tube within view of acode reading instrument, which is time consuming.

There is a need for a system that can sort uniquely coded sample tubesrapidly and accurately from one location in a sample tube rack toanother location for use in a desired analytical or processingoperation, and in which coded information on a large number of sampletubes, such as an entire sample tube rack, may be read without movingtubes individually into proximity of a code reader.

BRIEF SUMMARY OF THE INVENTION

Devices and methods are provided for sorting sample tubes.

In one aspect, a device is provided that includes: a robotic assembly,including: a base that includes a vertical lift shaft; a horizontalrobotic arm including a proximal end and a distal end, wherein theproximal end of the robotic arm is configured to be lifted vertically bythe lift shaft and is configured for pivotal movement around the base;and end of arm tooling at the distal end of the robotic arm that isconfigured to pick up and hold a sample tube when a vacuum is appliedand to expel and deposit the sample tube into a designated slot in atube rack when air is expelled through the tooling; a vacuum source thatis fluidly connected to the end of arm tooling and configured to pull avacuum through the tooling; an air source that is fluidly connected tothe end of arm tooling and configured to expel air through the tooling;a horizontal stage underneath the robotic arm and configured to hold aplurality of tube racks in a position from which the end of arm toolingmay pick up and deposit sample tubes; a vision system that is configuredto record coded information on sample tubes and on the sides of tuberacks in the device and to convey the coded information to a controlsystem; and a control system that tracks coded information provided bythe vision system, and that controls the robotic assembly to pick up acoded sample tube from a first location in a first tube rack and todeposit the sample tube in a second location in a second tube rack,wherein the first tube rack and the second tube rack are the same ordifferent.

In some embodiments, the device may further include a plurality ofsample tubes in one or more tube racks, wherein each sample tubeincludes a unique identification code that may be read by the visionsystem and conveyed to the control system. In some embodiments, thedevice may further include a plurality of tube racks, wherein each tuberack includes a unique identification code that may be read by thevision system and conveyed to the control system. In some embodiments,the coded information includes one-dimensional, two-dimensional, orthree-dimensional bar codes on sample tubes and/or on tube racks.

In some embodiments, the robotic arm is a Selective Compliance AssemblyRobot Arm (SCARA), e.g., including: a first horizontal arm segmentincluding: a first proximal end that is configured to be lifted by thelift shaft and is configured for pivotal movement around the base, and afirst distal end; a second horizontal arm segment including: a secondproximal end that is rotatably coupled to the first distal end, and asecond distal end; a third horizontal arm segment including: a thirdproximal end that is rotatably coupled to the second distal end, and athird distal end; and the end of arm tooling connected to the thirddistal end.

In some embodiments, the end of arm tooling includes: an open columnincluding a top and a bottom, extending through at least a portion ofthe interior of the tooling and through which a suction force is appliedvia the vacuum source and air is expelled via the air source; a firstfitting that is connected to the top of the column and that is fluidlyconnected to the vacuum source and to the air source; an adaptor at thebottom of the column that is of a dimension suitable to connect with andretain the top of a sample tube by suction when a vacuum is applied; anopen chamber including a top and a bottom, located within an upperportion of the tooling, wherein the chamber surrounds the first fitting;and a second fitting that is fluidly connected to the air source andthrough which air passes into the top of the chamber when air pressureis applied, wherein the bottom of the chamber includes a plurality ofopenings through which air passes when air pressure is applied, saidopenings extending through a lower portion of the tooling and configuredto expel air through the bottom of the tooling when the device is inoperation. In an embodiment, the plurality of openings is a ring ofopenings around the open column that extends through the interior of thetooling and that are configured to expel air around a sample tube,preventing interference from surrounding tubes in the tube rack, if any,when the robotic arm picks up the sample tube. In an embodiment, thering of openings is disposed in a substantially circular configurationaround the open column, and is configured to expel air in asubstantially circular configuration around a sample tube.

In some embodiments, the vacuum source and the air source runsimultaneously, a vacuum is pulled through the end of arm toolingthrough the open column when a sample tube is picked up, the vacuum isshut off when the sample tube is above a desired location in a tuberack, and air is expelled briefly through the column after the vacuum isshut off, depositing the sample tube into the desired location in thetube rack.

In some embodiments, the device includes at least one sample tube rackthat includes sample tubes, wherein each sample tube in the rackincludes unique coded information on the bottom of the tube, wherein thetube rack includes openings such that the coded information on thesample tubes is viewable through the bottom of the tube rack, whereinthe vision system is configured beneath the bottom of the tube rack, andwherein the vision system records the locations of coded informationwhen the tube rack is positioned above the vision system. In someembodiments, the device includes at least one sample tube rack thatincludes unique coded information on at least one side, wherein thesample tube rack and the vision system are configured such that thecoded information is recorded by the vision system when the tube rack ispositioned above the vision system.

In some embodiments, the vision system includes three vision camerasystems that are aligned to read coded information from a sample tube orsample tube rack when it is located in a position above the visionsystem. In an embodiment, the device includes a vision system under eachlocation on the stage on which a sample tube rack may be positioned. Inanother embodiment, the device includes a single vision system, andincludes a track to move sample tube racks into position above thevision system for reading of coded information on sample tubes and/or onthe tube rack.

In some embodiments, the device includes a sample tube rack including aplurality of sample tubes to be sorted, wherein each sample tubeincludes a top and a bottom, wherein the top of the tube is configuredand of a dimension such that the tube will be held by suction whenpicked up by the end of arm tooling of the robotic arm when a vacuum isapplied therethrough, and wherein each sample tube comprises uniquecoded information on the bottom of the tube, wherein the vision systemis configured to read and convey information about the locations of thecoded information to the control system before and after sorting todesired locations in one or more tube rack.

In some embodiments, the vacuum source and the air source are producedwith a vacuum pump that creates a vacuum through the venturi effect,wherein a vacuum is produced when compressed air flows through aventuri, and wherein positive air pressure is produced when the flow ofcompressed air is terminated.

In some embodiments, the device further includes a tube sensor thatsenses whether a sample tube has been picked up by the end of armtooling when the vacuum is applied.

In some embodiments, the stage is in the form of a deck or a track on aconveyer belt.

In some embodiments, the device is configured to sort 20, 30, or 40, ormore sample tubes per minute.

In another aspect, a method is provided for sorting sample tubes,including a device as described herein, and further including at leastone sample tube rack that includes sample tubes, wherein a sample tubein a first location is sorted to a second location on the same ordifferent sample tube rack, wherein the control system moves the roboticarm to configure the end of arm tooling above the first location,wherein a vacuum is applied via the vacuum source, thereby providing asuction force through the end of arm tooling, wherein the sample tube ispicked up from the first location and retained by the end of arm toolingvia vacuum suction, wherein the control system moves the robotic arm toconfigure the end of arm tooling with the retained sample tube above thesecond location, wherein the vacuum is terminated and positive airpressure is applied through the end of arm tooling to expel the sampletube in the second location, and wherein the presence of the sample tubein the first location and/or second location is determined by reading ofcoded information on the sample tube by the vision system.

In some embodiments, the control system lowers the robotic arm beforethe sample tube is picked up, raises the robotic arm when it is moved toconfigure the end of arm tooling above the second location, and lowersthe robotic arm before the sample tube is expelled in the secondlocation.

In an embodiment, the robotic arm is a SCARA, including: a firsthorizontal arm segment, including: a first proximal end that isconfigured to be lifted by the lift shaft and is configured for pivotalmovement around the base, and a first distal end; a second horizontalarm segment including: a second proximal end that is rotatably coupledto the first distal end, and a second distal end; a third horizontal armsegment including: a third proximal end that is rotatably coupled to thesecond distal end, and a third distal end; and the end of arm toolingconnected to the third distal end.

In some embodiments, the end of arm tooling includes: an open columnincluding a top and a bottom, extending through at least a portion ofthe interior of the tooling and through which a suction force is appliedvia the vacuum source and air is expelled via the air source; a firstfitting that is connected to the top of the column and that is fluidlyconnected to the vacuum source and to the air source; an adaptor at thebottom of the column that is of a dimension suitable to connect with andretain the top of a sample tube by suction when a vacuum is applied; anopen chamber comprising a top and a bottom, located within an upperportion of the tooling, wherein the chamber surrounds the first fitting;and a second fitting that is fluidly connected to the air source andthrough which air passes into the top of the chamber when air pressureis applied, wherein the bottom of the chamber includes a plurality ofopenings through which air passes when air pressure is applied, saidopenings extending through a lower portion of the tooling and configuredto expel air through the bottom of the tooling when the device is inoperation. In an embodiment, the plurality of openings is a ring ofopenings around the open column that extends through the interior of thetooling, wherein air is expelled around a sample tube, preventinginterference from surrounding tubes in the tube rack, if any, when therobotic arm picks up the sample tube. In an embodiment, the ring ofopenings is disposed in a substantially circular configuration about theopen column, and air is expelled in a substantially circularconfiguration around the sample tube.

In some embodiments, the vacuum source and air source runsimultaneously, wherein a vacuum is pulled through the end of armtooling through the open column when a sample tube is picked up, whereinthe vacuum is shut off when the sample tube is above a desired locationin a tube rack, and wherein air is expelled briefly through the columnafter the vacuum is shut off, depositing the sample tube into thedesired location in the tube rack. In an embodiment, the vacuum sourceand the air source are produced with a vacuum pump that creates a vacuumthrough the venturi effect, wherein a vacuum is produced when compressedair flows through a venturi, providing a suction force whereby thesample tube is picked up from the first location, and wherein positiveair pressure is produced when the flow of compressed air is terminated,thereby expelling the sample tube in the second location.

In some embodiments, the coded information includes one-dimensional,two-dimensional, or three-dimensional bar codes on sample tubes and/oron sample racks. In an embodiment, each sample tube in the tube rackincludes unique coded information on the bottom of the tube, wherein thetube rack includes openings such that the coded information on thesample tubes is viewable through the bottom of the tube rack, whereinthe vision system is configured beneath the bottom of the tube rack, andwherein the vision system records the locations of coded informationwhen the tube rack is positioned above the vision system. In anembodiment, each sample tube rack includes unique coded information onat least one side, wherein the sample tube rack and the vision systemare configured such that the coded information is recorded by the visionsystem when the tube rack is positioned above the vision system.

In some embodiments, the vision system includes three vision camerasystems that are aligned to read coded information from a sample tube orsample tube rack when it is located in a position above the visionsystem.

In some embodiments, the device further includes a tube sensor thatsenses whether a sample tube has been picked up by the end of armtooling when the vacuum is applied.

In some embodiments, the device is configured to sort 20, 30, or 40, ormore sample tubes per minute.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an embodiment of a sample tube sorting device.

FIG. 2 shows a perspective view of an embodiment of a sample tubesorting device.

FIG. 3 shows a plan view of an embodiment of a sample tube sortingdevice.

FIG. 4 shows an embodiment of a robotic arm of a sample tube sortingdevice

FIG. 5 shows a cross-section of an embodiment of end of arm tooling on arobotic arm of a sample tube sorting device.

FIG. 6 shows an interior view of an embodiment of end of arm tooling ona robotic arm of a sample tube sorting device.

FIG. 7 shows an interior view of an embodiment of end of arm tooling ona robotic arm of a sample tube sorting device.

FIG. 8 shows an exterior view of an embodiment of end of arm tooling ona robotic arm of a sample tube sorting device.

FIG. 9 shows an embodiment of a sample tube rack with sample tubes.

FIG. 10 shows an embodiment of a sample tube rack with coded informationon one side (depicted as coded information along a length side of thesample tube rack) and sample tubes with coded information on the bottomsof tubes.

FIG. 11 shows an embodiment of a sample tube rack with coded informationon one side (depicted as coded information along a width side of thesample tube rack) and sample tubes with coded information on the bottomsof tubes.

FIG. 12 shows an embodiment of a workflow for a sample sorting device asdescribed herein.

FIG. 13 illustrates an overview of an automatic diagnostic laboratoryand a laboratory information management system.

FIG. 14 illustrates a detailed view of a laboratory execution system forfacilitating laboratory automation.

FIG. 15 illustrates a detailed view of a laboratory informationmanagement system for facilitating laboratory automation.

FIG. 16 illustrates a general computing system in which one or moresystems may be implemented.

FIG. 17 illustrates an exemplary workflow diagram for sample processing.

FIG. 18 illustrates an exemplary process for controlling a robotics unitto transport one or more sample tubes.

FIG. 19 illustrates a robotic system for managing automatic laboratoryprocesses.

FIG. 20 illustrates an angled view of a robotic arm.

DETAILED DESCRIPTION

The invention provides methods and devices for sorting sample tubes. Themethods and devices disclosed herein include a robotic assembly with arobotic arm that may be lifted and lowered and that is configured topivot around a base. Sample tubes are picked up by applying a vacuumsuch that tubes are picked up by suction and retained by end of armtooling on the robotic arm. A sample tube is picked up by vacuumsuction, the robotic arm moves the tube into position above a desiredlocation, and the tube is deposited in the desired location by shuttingoff the vacuum and expelling a brief burst of air through the end of armtooling to release the sample tube.

In some embodiments, a vacuum source and air source run simultaneouslywhile the tube is retained on the end of arm tooling, and when thevacuum shuts off, a “puff” of air pushes the tube into the desiredlocation. For example, the vacuum source and the air source may beproduced with a vacuum pump that creates a vacuum through the venturieffect, producing a vacuum as compressed air flows through a venturi,thereby providing a suction force for picking up and retaining a sampletube. A brief burst of positive air pressure is produced when the flowof compressed air is terminated, thereby expelling the sample tube in adesired location.

In some embodiments, air is expelled through a plurality of openingsthat extend through a lower portion of the end of arm tooling and thatsurround the sample tube as it is being picked up by the tooling,holding surrounding tubes in a tube rack in place, pushing them out ofthe way so that they do not interfere with picking up of the tube thatis to be sorted to another location. Such an embodiment may improvereliability of sorting, by improving accuracy of picking up the sampletube of interest without interference by surrounding tubes in the tuberack.

Sample tubes to be sorted as disclosed herein include unique codedidentifying information. The unique coded information on sample tubespermits compilation of data from different analytical or processoperations for an individual from whom the sample was obtained. Sortingoperations are dynamic and may be tailored for the analytical ordiagnostic needs of the individual. Sample tubes may be moved intoposition for a downstream test or processing operation based oninformation obtained from an upstream test or operation. In someembodiments, unique identification codes are present on the bottoms ofsample tubes and the sample sorting device includes a vision system thatmay read the codes on the bottoms of tubes of an entire sample tuberack, conveying the information to a control system. In someembodiments, the device contains a plurality of sample tube racks, eachof which contains a unique identification code, such that tubes aresorted to coded tube racks, i.e., each uniquely coded sample tube may besorted to a desired location in a uniquely coded sample tube rack (e.g.,a sample tube rack that contains uniquely coded information along one ormore length and/or width sides(s) of the tube rack). Coded sample tubesmay be scanned before and after sorting, and optionally a sensor may bedeployed to sense whether a sample tube has been picked up by thedevice, e.g., by monitoring air pressure. Such scanning and sensingreduces errors and improves reliability. Accuracy of sorting is ofcritical importance, particularly for clinical samples and diagnosticoperations.

Sample tubes may be sorted as disclosed herein at a speed of greaterthan 10, 20, 30, or 40 sample tubes per minute.

A “sample tube” may refer to a sample collection test tube or othercontainer (“primary tube”), which is used to receive a sample, forexample, a sample that is obtained from an individual such as a patient,and may be used to transport the sample to a location at whichanalytical or diagnostic procedures may be performed on the sample. A“sample tube” may also refer to a secondary sample tube or container(“secondary tube”) into which an aliquot of the sample from the primarytube is transferred, for example, of a convenient size or configurationfor analytical or diagnostic procedures that will be performed on thesample therein. A sample tube may be constructed of glass or plastic orother suitable material for containing a sample of interest, has aclosed end and an open end, with the open end closed or capped with aclosure. In some embodiments, the closure at the open end of the sampletube contains a septum through which at least a portion of the sample inthe tube may be withdrawn. In other embodiments, the closure may containa screw type or hinged lid. A sample tube may be, for example, a tubulartest tube which may, for example, contain a cylindrical shaft closed onthe bottom by a rounded (e.g., hemispherical) or conical, bottom. Atubular test tube may have a generally round profile as sectionedperpendicular to the shaft axis.

A “sample” may include, but is not limited to, blood, plasma, saliva,urine, semen, oocytes, skin, hair, feces, cheek swabs, or pap smearlysate from an individual.

A “tube rack” refers to a tube holder with a plurality of slots forholding sample tubes. The tube rack is typically configured to holdsample tubes in an upright manner.

“Coded information” or “identification code” refers to information thatcan be retrieved to identify a sample, the source of a sample, and/orinformation about a sample (e.g., a patient from whom a sample wasobtained, a tissue source, etc.). Coded information may, for example, bein the form of a one-dimensional, two-dimensional, or three-dimensionalbarcode.

Sample tube sorting devices disclosed herein include a robotic arm forpicking up a sample tube from a first location in a first sample tuberack and sorting the tube to a second location in the first sample tuberack or in a second sample tube rack. The initial loading of sampletubes in the first tube rack may be manual or may utilize a secondrobotic arm, e.g., including an interface between another robotic systemand the sample tube sorting device. Use of a robotic system as disclosedherein improves speed of sorting, permitting, for example, sorting ofgreater than 10, 20, 30, or 40 sample tubes per minute.

In some embodiments, the robotic arm is a Selective Compliance AssemblyRobot (SCARA), containing a plurality of independently movablehorizontal or substantially horizontal arm segments, with end of armtooling containing an adaptor for picking up and retaining a sample tubeof desired dimensions. Different size tubes may be sorted by changingthe adaptor on the end of arm tooling. In some embodiments, the devicemay include the ability to change the end of arm tooling and/or tuberetention adaptor itself. The arm segments are rotatably coupled to eachother, and the device includes a lift shaft between the base of thedevice and the first arm segment, for lifting and lowering the armrelative to the sample tubes and sample tube racks. The lift shaftpermits pivotal movement of the robotic arm around the base. Themultiple, independently rotatable arm segments permit greatermaneuverability to move the end of arm tooling into position for pickingup and depositing sample tubes and improve speed of sorting.

In operation, the robotic arm positions the end of arm tooling above asample tube to be sorted, the arm is lowered to permit the tube to bepicked up and retained by the end of arm tooling by vacuum suction, thearm is raised to move the tube to a desired location, the arm islowered, the vacuum is terminated, and a short burst or puff of positiveair pressure pushes the sample tube into the desired location, e.g., adesired slot in a sample tube rack. Using air pressure to release thetube increases reliability, versus simply turning off the vacuum andreleasing the tube. The puff of air is released quickly and the airspreads out from the terminal opening through the tube retention adaptoron the end of arm tooling, increasing accuracy for deposit of the tubein the desired location.

In some embodiments, a sensor determines whether the sample tube hasbeen picked up. If not, the device may be programmed to try to pick upthe tube again, for example, for a set length of time. If the tube isnot picked up, the system may send a message notifying an operator ofthe failure to pick up and sort the tube.

Sample tube racks may be positioned around the robotic device inproximity to the robotic arm within reach of the end of arm tooling. Insome embodiments, the sample tube racks are positioned on a stage, forexample, a deck or a track on a conveyer belt.

The sample tube sorting devices disclosed herein include a visionsystem, for reading and conveying coded information on sample tubes andtube racks to a control system. The vision system may include, forexample, one or more high speed camera. After sorting, reading of thecoded information provides validation that the right tube has beenpicked up and deposited in the right location. In some embodiments, thevision system includes one, two or three cameras, configured to readcoded information on all tubes in a filled sample tube rack and codedinformation on the side of the tube rack. A vision system may beconfigured underneath each sample tube rack on a stage, or one or morevision system(s) may be configured such that either the vision systemmoves or the sample tube rack moves to position sample tube racks abovethe vision system. In some embodiments, the vision system is configuredsuch that a mirror is not necessary for reading coded information onsample tubes or tube racks.

The sample tube sorting devices disclosed herein include a controlsystem. The control system may be internal or external to the sortingdevice, and in some embodiments, may be separated by some distance. Theconnection between the control system and the sample tube sorting devicemay be, for example, via cables or wireless transmission. In someembodiments, the sample tube sorting device is attached to one or morecomputer(s) that receives instructions for sample sorting and conveysthe instructions to the sorting device for implementation.

The control system may control one or more function(s) related to sampletube sorting, as described herein, including, but not limited tomovement of the robotic arm in a path within sample tube racks, movementof the robotic arm in a path between sample tube racks, reading andtracking of unique coded information on sample tubes and/or on sampletube racks, and picking up and depositing of sample tubes in desiredlocations. In some embodiments, the control system may control movementof sample tubes according to a predetermined schedule. In someembodiments, the control system may control or interface with anothercontrol system that controls one or more liquid handling, analytical, orprocessing functions related to samples in the sample tubes, includingbut not limited to, dispensing of liquid, aspiration of liquid,detection of a signal, or extraction of biomolecule(s).

In some embodiments, a control system may be configured to control oneor a plurality of sample tube sorting devices, and optionally, one or aplurality of sample liquid handling systems or other devices or systemsfor processing or analyzing samples in the sample tubes.

In some embodiments, a sample tube sorting device, as disclosed herein,may be connected to or interface with one or more device(s) or system(s)for processing samples in the sample tubes. For example, tubes may besorted and moved to a device or system for processing of the sample,extraction of a material, such as one or more biomolecule(s) from thesample, or analytical or diagnostic testing on the sample, and aftersuch downstream operation has been performed, the sample tubes may bereturned to the sample tube sorting device for resorting or removal.

In some embodiments, a sample tube sorting device, as disclosed herein,may include capabilities and hardware for one or more sample processingoperations, including, but not limited to, extraction of a material,such as one or more biomolecule(s) from the sample, or analytical ordiagnostic testing on the sample. For example, the end of arm toolingmay be changed from tooling for sorting sample tubes to hardware forperforming sample processing operations. In some embodiments, thechanging of end of arm tooling may be robotically automated andcontrolled by the control system.

In some embodiments, a sample tube sorting device as described hereinbatches samples, e.g., patient samples, for various assays or othertreatments or tests. For example, from a large number of samples,certain samples that are desired to be assayed in a first assay aresorted to a first sample tube rack. Optionally, other samples that aredesired to be assayed in a second assay may be sorted to a second sampletube rack. Some of the tubes in the first and/or second sample tuberacks may be sorted to a third sample tube rack for a third assay, forexample, dependent on the results obtained in the first and/or secondassay. Sample tubes are pre-batched, i.e., pre-sorted prior to assay,rather than batched as the assay destination. The batch is created at aspecific sorting point and then sent together for assay, and then all ora portion of the sample tubes may be resorted for further assay(s) orreturned to their starting locations. Control samples may be included inthe pre-sorted sample tube rack, rather than assayed separately fromsamples. Controls may be sorted to any desired location within a sampletube rack.

Based on the results of one assay or test procedure, each sample tubemay be sorted to additional assay(s) or test(s), may be re-run in thesame assay(s) or test(s), or may be returned to a starting or storagelocation. The sample tube sorting device herein may operate as acontinuous flow sorting system, with a high ratio of input to output,permitting storage of less samples than a compound management system.

Exemplary Embodiments

The following embodiments are intended to illustrate, but not limit, theinvention.

FIGS. 1 and 2 show an embodiment of a sample tube sorting device asdescribed herein. The sample sorting device includes a robotic assembly1, with a base 2, a vertical shaft 3 that can lift and lower a roboticarm 4 that includes end of arm tooling 5 that can pick up and depositsample tubes in desired locations in sample tube racks that arepositioned on a horizontal stage 6. In the embodiment depicted in FIG.1, the stage contains slots or fittings 11 to retain sample tube racks,disposed in a horizontal or substantially horizontal configuration aboutthe robotic assembly. The sample sorting device also includes a visionsystem 7, configured to view and record coded information on sampletubes and on the sides of sample tube racks in the device, and to conveythe coded information to a control system.

In the device depicted in FIGS. 1 and 2, the robotic arm includes afirst arm segment 8 that is coupled at its proximal end to shaft 3,configured to be lifted and lowered by the shaft, and configured forpivotal movement about the base 2. The first arm segment is coupled atits distal end to the proximal end of a second arm segment 9, and thesecond arm segment is coupled at its distal end to the proximal end of athird arm segment 10. The third arm segment contains end of arm tooling5 at its distal end, configured to pick up a sample tube when a vacuumis applied and to expel the sample tube in a desired location when airis expelled through the tooling. The second and third arm segments arecapable of independent rotation about vertical or substantially verticalaxes of rotation. The shaft 3 moves the robotic arm down to pick up atube, moves the robotic arm up after the tube has been acquired and isheld in place by vacuum, and moves the tube back down after the arm hasmoved the end of arm tooling into the location above a desired slot in asample tube rack into which the tube will be deposited when air isexpelled through the tooling.

FIG. 3 depicts a plan view of an embodiment of a sample tube sortingdevice, as seen from above. Horizontal stage 6 surrounds roboticassembly 1 and contains slots or fittings 11 for positioning of sampletube racks about the robotic device and within the reach of the roboticarm and end of arm tooling, for picking up and depositing sample tubestherein.

FIG. 4 depicts an embodiment of a sample sorting device as describedherein, containing a vacuum source that is fluidly connected to the endof arm tooling of the robotic arm through tubing 13, and an air sourcethat is fluidly connected to the end of arm tooling through tubing 14and fitting 15. As depicted in FIG. 4, the vacuum and air sources arelocated in a housing on top of the robotic arm, but other locations forvacuum and air sources, either attached to or separated from the roboticassembly, are contemplated in other embodiments. Optionally, the samplesorting device includes a tube sensor 12, configured to sense whether asample tube has been picked up and retained by the end of arm toolingwhen a vacuum is applied, and to convey this information to a controlsystem.

FIG. 5 shows a cross-section of an embodiment of the end of arm tooling.In the embodiment depicted in FIG. 5, the end of arm tooling includes aportion of vacuum tubing 13 that extends into the interior of thetooling, and that is connected to an open column 16 in a lower portionof the tooling. Open column 16 is connected to an adaptor 21 at thebottom of the tooling that is configured to connect with and retain thetop of a sample tube by suction when a vacuum is applied. The end of armtooling also includes an open chamber 18 that is located within an upperportion of the tooling and that surrounds fitting 17. Open chamber 18 isfluidly connected to an air source via tubing (not shown) and fitting15, through which air is passes into the top of chamber 18 when airpressure is applied. Air passes through chamber 18 and through aplurality of openings 19 that extend from the bottom of chamber 18through the lower portion of the tooling, expelling air through openings20 at the bottom of the tooling when air pressure is applied duringacquisition of a sample tube by the end of arm tooling.

FIG. 6 shows an interior view of an embodiment of the end of arm tooling5. Sample tubes are picked up and retained in adaptor 21 by vacuum andexpelled in a desired location by brief application of positive airpressure through column 16 and adaptor 21. The adaptor is fluidlyconnected to a vacuum source via column 16, which is connected to tubing13 via fitting 17. Tubing 16 is connected to a vacuum source. Sampletubes are expelled in a desired location when the vacuum is terminatedand air is expelled briefly through the end of arm tooling.

FIG. 7 shows an interior view of an embodiment of the end of arm tooling5, with further detail of a ring of openings 19 that extend from thebottom of chamber 18, terminating at the bottom of the tooling inopenings 20 through which air is expelled when sample tubes are acquiredby the end of arm tooling, holding surrounding tubes in the sample tuberack in place and preventing interference from the surrounding tubes asthe tube of interest is picked up.

FIG. 8 shows an embodiment of end of arm tooling 5, with a ring ofopenings 20, through which air may be expelled when positive airpressure is applied, surrounding adaptor 21, which may retain a sampletube when a vacuum is applied.

FIG. 9 shows an embodiment of a sample tube rack 22 that contains sampletubes 23. FIG. 10 shows an embodiment in which coded information is onthe bottoms of sample tubes and viewable through the bottom of slotsinto which the tubes are inserted in the sample rack 25, and in whichcoded information 24 is on the length side of the sample rack. FIG. 11shows an embodiment in which coded information is on the bottoms ofsample tubes and viewable through the bottom of slots into which thetubes are inserted in the sample rack 25, and in which coded information24 is on the width side of the sample rack. In some embodiments, codedinformation may be contained on both length and width sides of thesample tube rack (not depicted).

LIMS

In some embodiments, a sample tube sorting device as described herein isintegrated with a laboratory information management system (LIMS), asdescribed below.

A LIMS, also referred to as a laboratory management system (LMS) or alaboratory information system (LIS), is a system for modernizingfunctions within a laboratory that have traditionally been performedmanually or semi-manually. A LIMS system may include but is not limitedto a server or host computer, database, management software, and may becoupled to associated laboratory instrumentation for performingrespective laboratory functions. A LIMS system will generally assistlaboratory personnel in tracking, analyzing, sorting, and routinglaboratory samples throughout complex laboratory processes in anefficient and cost-effective manner.

Advantages of LIMS systems include, but are not limited to, enhancedsample management, quality control, chain of custody, and reportgeneration. A LIMS system also permits flexible control of access tolaboratory information among a diverse user set, such as physicians,patients, analysts, and technicians.

A LIMS as disclosed herein provides for automation and laboratoryinformation management, and may be embodied as a system, method, orcomputer program product. Furthermore, the present invention may takethe form of an entirely software embodiment, entirely hardwareembodiment, or a combination of software and hardware embodiments. Evenfurther, the present invention may take the form of a computer programproduct contained on a computer-readable storage medium, wherecomputer-readable code is embodied on the storage medium. In anotherembodiment, the present invention may take the form of computer softwareimplemented as a service (SaaS). Any appropriate storage medium may beutilized, such as optical storage, magnetic storage, hard disks, orCD-ROMs.

FIG. 13 illustrates an overview of system 100 for an automaticdiagnostic laboratory and laboratory information management system(hereinafter “LIMS”). System 100 includes a data management system 101,automation system 102, and analytics results management system (ARMS)103. In general, data management system 101 is a centralized databasetool for maintaining information pertaining to the LIMS system, such asmaintaining laboratory tests, diagnostics, equipment, personnel, and thelike. In one embodiment, data management system 101 is dynamicallyupdated and facilitates the management of information among othercomponents of the LIMS system, such as automation system 102 and ARMS103.

Automation system 102 generally provides for the management oflaboratory workflow, and may permit one or more users to create anddeploy custom laboratory workflow processes. For example, automationsystem 102 may provide functionality for a user to create a graphicaldiagram to model different laboratory equipment and diagnostics, and maypermit the user to customize the timing, decision-making, and other testvariables of laboratory analytics. Automation system 102 may furtherprovide functionality to permit a user to deploy one or more workflowprocesses based on user-generated diagrams, and such workflow processesmay be modified dynamically by the user. Furthermore, automation system102 may include hardware and software components for interfacing withlaboratory equipment, such as robotics units, conveyor systems, samplerepositories, climate control systems, (e.g., lighting and temperature),pneumatic systems, audio/video systems, etc.

In one embodiment, automation system 102 may include hardware and/orsoftware for enabling one or more robotics units to perform movementsrelated to testing laboratory samples, such as mixing, shaking, heating,cooling, picking, and/or placing or samples. For example, automationsystem 102 may generate and send commands to the one or more roboticsunits to allow the robotics units to move in three-dimensional space.Such commands may also permit the one or more robotics units tointerface with a pneumatics system to utilize pressurized air forgrasping and releasing one or more samples. In one embodiment, thesamples may be contained in a test tube, vial, or similar container.Automation system 102 may further be configured to generate and sendcommands to the one or more robotics units to allow the robotics unitsto remove and/or replace a lid on the top of a container. For example,the one or more robotics units may be equipped with machinery capable ofsensing a test tube lid, and further capable of removing the test tubelid by one or more robotic motions. Similarly, the one or more roboticsunits may be equipped with machinery to sense a test tube without a lid,and may perform one or more robotic motions to place and seal the testtube with a lid, for example.

ARMS 103 generally provides a system for dynamically rendering andorganizing laboratory information, including but not limited toinformation such as diagnostic results, quality control metrics,historical test data, sample genotypes, and the like. For example, ARMS103 may facilitate the generation of interactive data visualizations topermit one or more users to effectively oversee laboratory chemistry,algorithms, and products. ARMS 103 may also permit one or more users toperform complex analytical functions, such as analyze and manipulatequality control constraints, synthesize raw test data, and manuallycorrect test results.

In one embodiment, one or more components of the data management system101, automation system 102, and/or ARMS 103 may be maintained at alocation local to the laboratory and associated equipment (e.g., aserver room). In another embodiment, one or more components of the datamanagement system 101, automation system 102, and/or ARMS 103 may bemaintained at a location remote from the laboratory and associatedequipment (e.g., a “cloud-based” system). In yet another embodiment, oneor more components of the data management system 101, automation system102, and/or ARMS 103 may be maintained in a combination of local andremote locations.

FIG. 14 illustrates a detailed view of a laboratory execution system(LES) 200. LES 200 may include a data management tool 210 and anautomation process 220. Furthermore, LES 200 may communicate with a LIMSmodule 240. In one embodiment, LIMS module 240 may include at least anaccessioning module 206 and an analytic results management system (ARMS)230, which are discussed in more detail with respect to FIG. 15. FIG. 14further depicts user device 201 and application module 202, which willnow be described. User device 201 may permit a user to interact with LES200 and thus facilitate user interaction with each of the datamanagement tool 210, automation process 220, and ARMS 230, and/or otherassociated systems. User device 201 may communicate with applicationmodule 202 in order to perform one or more functions as describedherein.

In one embodiment, application module 202 may be an applicationprogramming interface (API) for performing one or more automatedfunctions. In another embodiment, application module 202 may be agraphical user interface (GUI), whereby a user may instruct LES 200 toperform one or functions such as loading a script, running a diagnosticmethod, executing a laboratory instrument action, or the like. Userdevice 201 may also interface with LES 200 by direct interaction withother components of the system. For example, user 201 may provide acommand directly to scheduler 204 for fixing execution time errors.

In another embodiment, lab tracker 208 facilitates physical locationmanagement of one or more robotics units. For example, lab tracker 208may be configured as a database which stores positional information ofall physical objects for a given point in time. Lab tracker 208 may alsoreceive information from other components in LES 200. For example, user201 may provide a command to lab tracker module 208 for fixing a platetracking error.

FIG. 14 further depicts automation process 220, which may provideworkflow management of sample plates, samples, and associated data. Forexample, automation process 220 may provide information regardingavailable plates to application module 202, or may otherwise indicatethe availability of system resources to application module 202. Asanother example, automation process 220 may receive reportinginformation, such as a job completion report, from application module202. Automation process 220 may also receive seed pipeline information,which may be manually entered by a user and provided directly to theautomation process 220 from user device 201. Seed pipeline informationmay include, for example, information to instantiate new objects formanagement into the LIMS system. For example, a user may utilize a GUIin order to create research samples, where the research samples areintroduced as seed pipeline information into automation process 220.

In another embodiment, automation process 220 may receive seed pipelineinformation from an accessioning module 206. In yet another embodiment,automation process 220 may receive query information from ARMS 230, forexample, a query regarding results to be displayed. Automation process220 may further receive query information from scheduler 204, forexample, a query regarding a pending job. Furthermore, automationprocess 220 may provide data management tool 210 with data validationinformation and information regarding data queries.

Furthermore, FIG. 14 shows data management tool 210, which will now bedescribed. Data management tool 210 may be configured to integratequantitative data, track sample barcodes, and manage overall workflow ofLES 200. In one embodiment, data management tool 210 may receiveinformation regarding a report operation from application module 202. Inanother embodiment, data management tool 210 may receive a reportoperation from mover module 205. Furthermore, data management tool 210may receive a command to fix plate tracking errors from a user via labtracker module 207. In yet another embodiment, data management tool 210may receive, from scheduler 204, a query regarding stateful data. In oneexample, such a query pertains to seal, spin, or location information.

FIG. 14 further depicts script server 203 and repository 207, which willnow be described. In one embodiment, script server 203 may communicatewith a version control system (VCS) repository 207 in order to obtainone or more software scripts for use in operating LES 200. VCSrepository 207 may be maintained by known repositories such as “Github,”or any other appropriate VCS repository service, as will be appreciatedby one of ordinary skill in the art. In one embodiment, script server203 may obtain software scripts from VCS repository 207, and may furtherpush one or more software scripts to application module 202. Scriptserver 203 may be further configured to deploy scripts and manage scriptmetadata.

Scheduler 204 may be configured to automate scheduling and executeapplications. For example, scheduler 204 may include at least onesoftware module such as script compiler, scheduler, and/or executor. Inone embodiment, scheduler 204 may provide application module 202 withone or more commands for performing an action, or may further provideapplication module 202 with a query for an API function. In anotherembodiment, scheduler 204 may be configured to initiate and/or deliverone or more queries for an API function, and may be further configuredto initiate and/or deliver one or more queries regarding stateful data.In another embodiment, scheduler 204 may be configured to initiateand/or deliver one or more queries regarding a pending job. In yetanother embodiment, scheduler 204 may be configured to receive a commandto fix execution time errors.

Mover application 205 may be configured to communicate with one or morerobotics units within a laboratory environment. For example, moverapplication 205 may facilitate the directing of the one or more roboticsunits to perform one or more movements in three-dimensional space. Moverapplication 205 may send instructions to the one or more robotics unitsregarding a movement, path, direction, or other information relating tothree-dimensional space in which the one or more robotics units mayperform any number of movements. In another embodiment, scheduler 204may provide mover module 205 with one or more commands for performing amove, such as, for example, robotic movements described in detail withrespect to FIG. 18.

Additionally, LES 200 may be configured to communicate withmanufacturing module 209. In one embodiment, manufacturing module 209 isconfigured to provide LES 200 with information related to samplecomponents, such as plastic, reagents, and the like. For example,manufacturing module 209 may assist in identifying sample componentswhich are introduced into LES 200. In another embodiment, manufacturingmodule 209 may be configured to declare and generate barcode labels forone or more sample plates and sample tubes.

LES 200 may further communicate with SciComp module 211. In oneembodiment, SciComp module 211 may facilitate overall automation withinthe LIMS system by managing the processing of all main stages, includingbut not limited to (i) physical sample acquisition, (ii) sequencing,(iii) raw data generation, (iv) data analysis, and (v) transfer ofanalyzed data to ARMS. In one example, SciComp module 211 may assistautomation process 220 by querying automation process 200 forinformation pertaining to a next job to process. SciComp module 211 mayfurther include components such a script server and/or scheduler formaintaining efficient job workflow. In one embodiment, SciComp module211 may perform the necessary data analytics tasks of the LIMS system,and may run the necessary algorithms to automatically produce patientvariant calls from raw data to analyzed data.

Although only one instance of each module is listed on FIG. 14 (e.g. onescheduler 204 and one mover 205), LES 200 may include one or moreinstances of any such module. For example, there may be two or moreinstances of scheduler 204, which are each associated with a specificprocess or device within the laboratory environment.

FIG. 15 illustrates a detailed depiction of laboratory informationmanagement system (LIMS) 300. In one embodiment, LIMS 300 includes anaccessioning module 301 and sample management module 302. Accessioningmodule 301 may be configured to record the arrival of a sample andinstantiate the arrival of the sample within one or more databases. Forexample, accessioning module 301 may be configured to send a first setof information to ARMS 303. The first set of information may include,for example, information pertaining to a disease panel order. Samplemanagement module 302 may be configured to communicate with accessioningmodule 301 in the organization of one or more samples to be seeded toARMS 303. Analytics module 306 may receive one or more outputs from ARMS303, such as results pertaining to a disease panel order. LIMS 300 mayfurther include validation module 308 and bioinformation module 309.Validation module 308 and bioinformation module 309 may each beconfigured to assist in the development of sample assays for testing.

As depicted in FIG. 15, LIMS 300 may further communicate with LES 310and SciComp 320, as discussed with respect to FIG. 14. LIMS 300 mayfurther include a call review module 304, which may be configured toprovide processing techniques to review and modify variant callprocessing data. LIMS 300 may further include a database module 307 tostore information relating to samples and associated test data, as usedwithin LIMS 300.

ARMS 303 may be further configured as a database containing genotypesfor samples. For example, ARMS 303 may be configured to process,maintain, and deliver information regarding genotyping data based on oneor more Variant Call Format (VCF) files. As will be appreciated by oneof ordinary skill in the art, a VCF file is a standardized text fileformat for representing and storing gene sequence variations. In oneembodiment, ARMS 303 may provide a results query to an automationprocess on LES 320. For example, a results query may be utilized todetermine which results are capable of being displayed.

In another embodiment, ARMS 303 includes functionality for generating aGUI, where the GUI provides a user with real-time data corresponding tolaboratory diagnostics and analysis for one or more samples. The GUI maypermit the user to perform a plurality of functions, including but notlimited to quality control (QC) monitoring and adjustment, samplehistory generation, manual tagging of samples, and the ability tomanually pass or fail a given sample. ARMS 303 may include functionalityfor generating custom diagnostics reports, including the generation ofgraphs, tables, spreadsheets, plots, diagrams, and/or othervisualization to enable efficient data interpretation.

FIG. 16 illustrates a general purpose computing system 400 in which oneor more systems, as described herein, may be implemented. System 400 mayinclude, but is not limited to known components such as centralprocessing unit (CPU) 401, storage 402, memory 403, network adapter 404,power supply 405, input/output (I/O) controllers 406, electrical bus407, one or more displays 408, one or more user input devices 409, andother external devices 410. It will be understood by those skilled inthe art that system 400 may contain other well-known components whichmay be added, for example, via expansion slots 412, or by any othermethod known to those skilled in the art. Such components may include,but are not limited, to hardware redundancy components (e.g., dual powersupplies or data backup units), cooling components (e.g., fans orwater-based cooling systems), additional memory and processing hardware,and the like.

System 400 may be, for example, in the form of a client-server computercapable of connecting to and/or facilitating the operation of aplurality of workstations or similar computer systems over a network. Inanother embodiment, system 400 may connect to one or more workstationsover an intranet or internet network, and thus facilitate communicationwith a larger number of workstations or similar computer systems. Evenfurther, system 400 may include, for example, a main workstation or maingeneral purpose computer to permit a user to interact directly with acentral server. Alternatively, the user may interact with system 400 viaone or more remote or local workstations 413. As will be appreciated byone of ordinary skill in the art, there may be any practical number ofremote workstations for communicating with system 400.

CPU 401 may include one or more processors, for example Intel® Core™ i7processors, AMD FX™ Series processors, or other processors as will beunderstood by those skilled in the art. CPU 401 may further communicatewith an operating system, such as Windows NT® operating system byMicrosoft Corporation, Linux operating system, or a Unix-like operatingsystem. However, one of ordinary skill in the art will appreciate thatsimilar operating systems may also be utilized. Storage 402 may includeone or more types of storage, as is known to one of ordinary skill inthe art, such as a hard disk drive (HDD), solid state drive (SSD),hybrid drives, and the like. In one example, storage 402 is utilized topersistently retain data for long-term storage. Memory 403 may includeone or more types memory as is known to one of ordinary skill in theart, such as random access memory (RAM), read-only memory (ROM), harddisk or tape, optical memory, or removable hard disk drive. Memory 403may be utilized for short-term memory access, such as, for example,loading software applications or handling temporary system processes.

As will be appreciated by one of ordinary skill in the art, storage 402and/or memory 403 may store one or more computer software programs. Suchcomputer software programs may include logic, code, and/or otherinstructions to enable processor 401 to perform the tasks, operations,and other functions as described herein, and additional tasks andfunctions as would be appreciated by one of ordinary skill in the art.Operating system 402 may further function in cooperation with firmware,as is well known in the art, to enable processor 401 to coordinate andexecute various functions and computer software programs as describedherein. Such firmware may reside within storage 402 and/or memory 403.

Moreover, I/O controllers 406 may include one or more devices forreceiving, transmitting, processing, and/or interpreting informationfrom an external source, as is known by one of ordinary skill in theart. In one embodiment, I/O controllers 406 may include functionality tofacilitate connection to one or more user devices 409, such as one ormore keyboards, mice, microphones, trackpads, touchpads, or the like.For example, I/O controllers 406 may include a serial bus controller,universal serial bus (USB) controller, FireWire controller, and thelike, for connection to any appropriate user device. I/O controllers 406may also permit communication with one or more wireless devices viatechnology such as, for example, near-field communication (NFC) orBluetooth™. In one embodiment, I/O controllers 406 may include circuitryor other functionality for connection to other external devices 410 suchas modem cards, network interface cards, sound cards, printing devices,external display devices, or the like. Furthermore, I/O controllers 406may include controllers for a variety of display devices 408 known tothose of ordinary skill in the art. Such display devices may conveyinformation visually to a user or users in the form of pixels, and suchpixels may be logically arranged on a display device in order to permita user to perceive information rendered on the display device. Suchdisplay devices may be in the form of a touch-screen device, traditionalnon-touch screen display device, or any other form of display device aswill be appreciated be one of ordinary skill in the art.

Furthermore, CPU 401 may further communicate with I/O controllers 406for rendering a graphical user interface (GUI) on, for example, one ormore display devices 408. In one example, CPU 401 may access storage 402and/or memory 403 to execute one or more software programs and/orcomponents to allow a user to interact with the system as describedherein. In one embodiment, a GUI as described herein includes one ormore icons or other graphical elements with which a user may interactand perform various functions. For example, GUI 407 may be displayed ona touch screen display device 408, whereby the user interacts with theGUI via the touch screen by physically contacting the screen with, forexample, the user's fingers. As another example, GUI may be displayed ona traditional non-touch display, whereby the user interacts with the GUIvia keyboard, mouse, and other conventional I/O components 409. GUI mayreside in storage 402 and/or memory 403, at least in part as a set ofsoftware instructions, as will be appreciated by one of ordinary skillin the art. Moreover, the GUI is not limited to the methods ofinteraction as described above, as one of ordinary skill in the art mayappreciate any variety of means for interacting with a GUI, such asvoice-based or other disability-based methods of interaction with acomputing system.

Moreover, network adapter 404 may permit device 400 to communicate withnetwork 411. Network adapter 404 may be a network interface controller,such as a network adapter, network interface card, LAN adapter, or thelike. As will be appreciated by one of ordinary skill in the art,network adapter 404 may permit communication with one or more networks411, such as, for example, a local area network (LAN), metropolitan areanetwork (MAN), wide area network (WAN), cloud network (IAN), or theInternet.

One or more workstations 413 may include, for example, known componentssuch as a CPU, storage, memory, network adapter, power supply, I/Ocontrollers, electrical bus, one or more displays, one or more userinput devices, and other external devices. Such components may be thesame, similar, or comparable to those described with respect to system400 above. It will be understood by those skilled in the art that one ormore workstations 413 may contain other well-known components, includingbut not limited to hardware redundancy components, cooling components,additional memory/processing hardware, and the like.

FIG. 17 illustrates an exemplary laboratory process 500 facilitated by,for example, automation process 220 in FIG. 14. In one embodiment,automation process 220 provides a user with the ability to create labworkflow processes in order to maintain sample queues for diagnosticsand analysis. For example, a user may create one or more graphicalobjects on a GUI display, where the objects may represent one or morelaboratory states, decisions, inputs, outputs, or other conditions tomodel a laboratory process. A resulting laboratory process may becreated based on the one or more graphical objects created by the user,such as, for example, a process as depicted in FIG. 17.

In one embodiment, process 500 includes input pool object 501, which mayrepresent, for example, one or more polymerase chain reaction (PCR)plates. Samples from the input pool may be scheduled to undergo one ormore tests, diagnostics, or other laboratory processes 502. For example,samples within the one or more PCR plates may undergo a process for DNAamplification. Arrow 510 may represent the transfer of one PCR plate 501to amplification process 502, for example. Arrow 520 may represent asuccessful output of amplification process 502, such as, for example,one amplified PCR plate. Output pool 503 may represent, for example, oneor more amplified PCR plates. Arrow 520 may therefore represent thetransfer of one amplified PCR plate to output pool object 503. Althoughonly one input, one process, and one output are depicted in process 500,it will be appreciated that any number of inputs, outputs, processes,transfers, or other laboratory functions may be represented by such agraphical diagram, and that the invention is not limited to theexemplary process depicted in FIG. 17.

FIG. 18 illustrates an exemplary transfer process 600 for controlling arobotics unit to transport one or more sample tubes. Transfer process600 may be facilitated at least in part by automation process 220 asdescribed in FIGS. 13 and 14. For example, automation process 220 maycommunicate with hardware and software processes associated with one ormore robotics, vision, and/or pneumatic systems in order to performtransfer process 600. In one embodiment, transfer process 600 isutilized to transfer at least one sample from an origin location to adestination location by using at least one robotics unit coupled withvision and pneumatics systems.

Transfer process 600 may begin at step 601, where automation process mayreceive a sample transfer request. Such request may be, for example, amanual request entered by a user, or may be an automated requestinitiated by a pre-scheduled workflow process. In one embodiment, therequest includes information identifying at least one sample barcodecorresponding to a current sample, and may further include informationidentifying a destination location for transferring the sampleassociated with the sample barcode from an origin location to thedestination location.

At step 602, automation process may send transfer information to avision system in order to identify the spatial location of theidentified sample. In one embodiment, the vision system performs avision matching process at step 603 to identify if a matching barcodeexists within the vision system's viewing area. If a matching barcode isfound, the vision system may send corresponding spatial locationinformation to robotics system at step 604. Such spatial locationinformation may correspond to sample location information discovered bythe vision system when identifying matching barcode in step 603. Thespatial location information may be in a form readable by robotics unitin order to permit the robotics unit to identify a three dimensionallocation in space corresponding to the physical sample identified.

At step 605, the robotics unit may receive and process the spatiallocation information, and may further grasp the identified sample. Forexample, the robotics unit may utilize the spatial location informationto move a robotic arm to a location corresponding to a position directlyabove the identified sample. The robotic arm may then be lowered to alocation near the sample, and the arm may grasp the sample by utilizing,for example, a pneumatic system. In one example, the sample is containedin a test tube which is grasped by a robotic arm, where a pneumaticsystem generates a vacuum in order to grip the test tube.

At step 606, the robotic arm may be raised while grasping the sample,and the robotic arm may be moved to a location corresponding to adestination location as received in the sample transfer request. At step607, the robotic arm may lower the sample onto a location correspondingto the desired location, and may release the sample from the roboticgrip by performing one or more pneumatic processes via the pneumaticsystem. For example, the pneumatic system may release the grip on thesample by discharging the vacuum and briefly expelling air near thesample.

FIG. 19 illustrates a robotic system 700 for managing automaticlaboratory processes. In one embodiment, robotic system 700 includes arobotic arm 701 for facilitating the movement of one or more samples.For example, robotic arm 701 may be configured to grasp a test tubecontaining a sample, and transport the test tube from a first locationto a second location. In another example, robotic arm 701 may beconfigured to grasp a sample rack, and transport the sample rack from afirst location to a second location. A sample rack may contain one ormore samples, and may be stored, for example, in a sample rackrepository 705. In one embodiment, sample rack repository 705 maycontain one or more sample racks and may facilitate efficient storageand retrieval of one or more sample racks.

In one embodiment, robotic arm 701 may further be affixed to a roboticarm base 702, and may be configured to rotate in a 360 degree motionabout the laboratory environment. For example, robotic arm 701 mayextend from a first position, such as the position depicted in FIG. 19,to a second position, such as a position extending into a first liquidhandling apparatus 703 a. Furthermore, robotic arm 701 may, for example,retract from the extended position in first liquid handling apparatus703 a and return to the position as depicted in FIG. 19. Furthermore,robotic arm 701 may retract from the position in first liquid handlingapparatus 703 a, and then extend to a position within a second liquidhandling apparatus 703 b. In one embodiment, the robotic arm may performvarious movements within liquid handling apparatus 703 a and liquidhandling apparatus 703 b in order to facilitate various sample testprocedures.

In another embodiment, robotic arm 701 may be configured to transportone or more samples and/or sample racks from sample rack repository 705to liquid handling apparatus 703 a or liquid handling apparatus 703 b.Robotic arm 701 may further be configured to return one or more samplesand/or sample racks from liquid handling apparatus 703 a or liquidhandling apparatus 703 b to sample rack repository 705, for example.Furthermore, although only two liquid handling apparatus 703 a and 703 bare depicted in FIG. 19, one will appreciate that additional liquidhandling apparatus may be deployed within the laboratory environment,and that robotic arm 701 may extend into other such areas within thereach of robotic arm 701.

In yet another embodiment, robotic arm 701 may be surrounded by one ormore sensors 704. Sensors 704 may, for example, detect specific motionswithin an area surrounding robotic arm 701, such as a predefined motiondetection area. In one embodiment, the motion detection area may bedefined by a spherical or semi-spherical region centered at or near acoupling point of robotic arm 701 to robotic arm base 702. In anotherembodiment, the motion detection area may be defined by a spherical orsemi-spherical region centered at or near a specific point in spacedefined by a user. For example, the motion detection area may bedynamically configured and updated by a user, and may define customthree-dimensional areas in space surrounding robotic arm 701.

Sensors 704 may, for example, provide signals to one or more softwaresystems within the laboratory environment in order to prevent roboticarm 701 from moving into specific areas within the laboratoryenvironment. In one example, sensors 704 may be configured to detectmovements associated with a user or other object within a specifiedmotion detection area near robotic arm 701. If sensors 704 detect suchmotions, sensors 704 may send one or more alarm signals to softwaresystems associated with robotic arm 701 in order to cease all movementsof robotic arm 701. Sensors 704 may be configured to, for example, sendsignals to software systems associated with robotic arm 701 in order toresume movements of robotic 701 upon the sensors 704 detecting that anysuch user, object, or other event causing the alarm signals is no longerwithin the motion detection area. In another embodiment, sensors 704 androbotic arm 701 may remain disabled after the alarm signal until apredefined user restart process is initiated and completed. Uponcompletion of such user restart process, the robotic arm 701 and sensors704 may, for example, resume normal operations.

In another embodiment, robotic system 700 includes an additional liquidhandling apparatus 706 having a robotics unit configured for automatedDNA extraction. Liquid handling apparatus 706 may be configured tohandle multiple tube sizes and/or multiple sample types. For example,liquid handling apparatus 706 may be configured to handle either a 4 mmtube size or a 6 mm tube size. In another example, liquid handlingapparatus 706 may be configured to handle either a blood sample or asaliva sample. In another embodiment, robotic system 700 includes arobotic refrigerator 707, which may be configured to store and retrievesample plates of one or more different sizes. Robotic refrigerator 707may be further configured, for example, to allow for human override topermit manual access to the contents within robotic refrigerator 707.

FIG. 20 illustrates an angled view of a robotic arm 800, for example, arobotic arm such as robotic arm 701 in FIG. 19. As depicted in FIG. 20,robotic arm 800 includes a sample handling portion 801, a first solidsection 802, a second solid section 803, a third solid section 804, anda robotic arm base 805. In one embodiment, sample handling portion 801is connected to the first solid section 802. In another embodiment,first solid section 802 is connected at one end to sample handlingportion 801, and is connected at another end to second solid section803. In yet another embodiment, second solid section 803 is connected atone end to first solid section 802, and is connected at another end tothird solid section 804. In yet another embodiment, third solid section804 is connected at one end to second solid section 803, and isconnected at another end to robotic arm base 805.

The following examples are intended to illustrate but not limit theinvention.

EXAMPLES Example 1

An exemplary workflow for a sample sorting device as described herein isillustrated in FIG. 12.

Overview

The tube sorting workflow is a process for sorting tubes by tube stateusing a robotic sample sorting device as described herein. The sortingdevice takes in sample tube racks (plates) that are unsorted and outputsfull plates ready for the next step. Unsorted plates can have any numberof tubes and any combination of tube states.

Sample Tube States

-   -   1. No sample (empty tube)    -   2. Sample required for one or more assays. The assay with the        highest priority is its current state.    -   3. Sample required for one or more assays, but those assays are        unknown. This state represents pending more information.    -   4. Sample has completed all assays, but the assays are still        being processed. These samples are kept in the workflow in case        they need to be reprocessed.    -   5. Sample has completed all assays and all the assays have        completed processing. These samples can be removed from the        workflow.    -   6. Tube contains a “control” sample. Controls are kept in the        unsorted plate, which becomes a control plate after the rest of        the tubes are sorted.

Unsorted Plates Examples

-   -   Plates that are entering the workflow for the first time.    -   Plates that complete assay builds    -   Plates in a processing state (states 3, 4) where the samples        change state and need to be reprocessed    -   Any other plate can be sorted

Deck Locations

The sample sorting device has as many “nest” locations to hold plates asthere are sample states, plus the input unsorted plate. The number ofsample states can vary based on the number of desired assays in theworkflow.

Locations that are not assay locations (states 1, 3, 4, 5, 6) start outas empty plates. When the plates fill up, they are moved to their nextlocation and are replaced with an empty plate.

Locations that are assay locations (state 2) start out either as emptyplates or control plates, depending on if the assay needs controls. Whenthese plates fill up, they are moved to their next location and arereplaced with an empty plate.

Outputs

When the sample sorting device fills up plates, they move onto theirnext location.

-   -   Plates full of empty tubes and completed samples are moved to an        output location to be removed from the workflow.    -   Plates full of processing samples (states 3, 4) are moved to a        storage location within the workcell. They wait until one or        more of the samples change to a processing state. If this        happens, the plate is unsorted and goes through the sorting        device. If all of the samples become complete, the plate is        moved to an output location (bypassing the sorting device).    -   Plates from the assay states are moved to a liquid handler that        builds the assay. After the liquid handling operation, the plate        is unsorted and goes through the sorting device.

Buffers

The workflow requires that there are both empty plates and controlplates in a buffer location for the sorting device. There must be asmany empty plates as there are sorting device deck locations that startas empty plates. There must be control plates for each assay thatrequires control plates. The number of control plates required dependson the quantity of samples that are processed for that assay, but thereshould be multiple control plates for each assay.

As used herein, the terminology as used throughout the description ofthe invention is for the purpose of describing particular embodimentsonly. Such terminology does not limit the scope of the invention in anyway. For example, singular forms of “a,” “an” and “the” are intended toinclude plural forms unless indicated otherwise. Furthermore, terms suchas “comprises” or “comprising” specify the presence of indicatedfeatures, components, steps, etc., but do not preclude the presence oraddition of one or more other features, components, steps, etc. Thedescription may also include the term “in,” which may include “in” and“on” unless clearly indicated otherwise. Furthermore, usage of the term“or” includes both conjunctive and disjunctive meanings, unless clearlyindicated otherwise. That is, unless expressly stated otherwise, theterm “or” may include “and/or.”

Although the foregoing invention has been described in some detail byway of illustration and examples for purposes of clarity ofunderstanding, it will be apparent to those skilled in the art thatcertain changes and modifications may be practiced without departingfrom the spirit and scope of the invention. Therefore, the descriptionshould not be construed as limiting the scope of the invention.

All publications, patents, and patent applications cited herein arehereby incorporated by reference in their entireties for all purposesand to the same extent as if each individual publication, patent, orpatent application were specifically and individually indicated to be soincorporated by reference.

1. A device for sorting sample tubes, comprising: a robotic assembly,comprising: a base that comprises a vertical lift shaft; a horizontalrobotic arm comprising a proximal end and a distal end, wherein theproximal end of the robotic arm is configured to be lifted vertically bythe lift shaft and is configured for pivotal movement around the base;and end of arm tooling at the distal end of the robotic arm that isconfigured to pick up and hold a sample tube when a vacuum is appliedand to expel and deposit the sample tube into a designated slot in atube rack when air is expelled through the tooling; a vacuum source thatis fluidly connected to the end of arm tooling and configured to pull avacuum through the tooling; an air source that is fluidly connected tothe end of arm tooling and configured to expel air through the tooling;a horizontal stage underneath the robotic arm and configured to hold aplurality of tube racks in a position from which the end of arm toolingmay pick up and deposit sample tubes; a vision system that is configuredto record coded information on sample tubes and on the sides of tuberacks in the device and to convey the coded information to a controlsystem; and a control system that tracks coded information provided bythe vision system, and that controls the robotic assembly to pick up acoded sample tube from a first location in a first tube rack and todeposit the sample tube in a second location in a second tube rack,wherein the first tube rack and the second tube rack are the same ordifferent.
 2. A device according to claim 1, further comprising aplurality of sample tubes in one or more tube racks, wherein each sampletube comprises a unique identification code that may be read by thevision system and conveyed to the control system.
 3. A device accordingto claim 2, comprising a plurality of tube racks, wherein each tube rackcomprises a unique identification code that may be read by the visionsystem and conveyed to the control system.
 4. A device according toclaim 1, wherein the robotic arm is a Selective Compliance AssemblyRobot Arm (SCARA), comprising: a first horizontal arm segmentcomprising: a first proximal end that is configured to be lifted by thelift shaft and is configured for pivotal movement around the base, and afirst distal end; a second horizontal arm segment comprising: a secondproximal end that is rotatably coupled to the first distal end, and asecond distal end; a third horizontal arm segment comprising: a thirdproximal end that is rotatably coupled to the second distal end, and athird distal end; and the end of arm tooling connected to the thirddistal end. 5.-8. (canceled)
 9. A device according to claim 1, whereinthe coded information comprises one-dimensional, two-dimensional, orthree-dimensional bar codes on sample tubes and/or on tube racks.
 10. Adevice according to claim 1, comprising at least one sample tube rackthat comprises sample tubes, and wherein each sample tube in the rackcomprises unique coded information on the bottom of the tube, whereinthe tube rack comprises openings such that the coded information on thesample tubes is viewable through the bottom of the tube rack, whereinthe vision system is configured beneath the bottom of the tube rack, andwherein the vision system records the locations of coded informationwhen the tube rack is positioned above the vision system.
 11. A deviceaccording to claim 1, comprising at least one sample tube rack thatcomprises unique coded information on at least one side, wherein thesample tube rack and the vision system are configured such that thecoded information is recorded by the vision system when the tube rack ispositioned above the vision system.
 12. A device according to claim 1,wherein the vision system comprises three vision camera systems that arealigned to read coded information from a sample tube or sample tube rackwhen it is located in a position above the vision system.
 13. A deviceaccording to claim 12, comprising a vision system under each location onthe stage on which a sample tube rack may be positioned.
 14. A deviceaccording to claim 12, comprising a single vision system, and comprisinga track to move sample tube racks into position above the vision systemfor reading of coded information on sample tubes and/or on the tuberack.
 15. A device according to claim 1, comprising a sample tube rackcomprising a plurality of sample tubes to be sorted, wherein each sampletube comprises a top and a bottom, wherein the top of the tube isconfigured and of a dimension such that the tube will be held by suctionwhen picked up by the end of arm tooling of the robotic arm when avacuum is applied therethrough, and wherein each sample tube comprisesunique coded information on the bottom of the tube, wherein the visionsystem is configured to read and convey information about the locationsof the coded information to the control system before and after sortingto desired locations in one or more tube rack.
 16. A device according toclaim 1, wherein the vacuum source and the air source are produced witha vacuum pump that creates a vacuum through the venturi effect, whereina vacuum is produced when compressed air flows through a venturi, andwherein positive air pressure is produced when the flow of compressedair is terminated.
 17. A device according to claim 1, further comprisinga tube sensor that senses whether a sample tube has been picked up bythe end of arm tooling when the vacuum is applied.
 18. A deviceaccording to claim 1, wherein the stage is in the form of a deck or atrack on a conveyer belt.
 19. A device according to claim 1, wherein thedevice is configured to sort 20 or more sample tubes per minute.
 20. Amethod for sorting sample tubes, comprising a device according to claim1, and further comprising at least one sample tube rack that comprisessample tubes, wherein a sample tube in a first location is sorted to asecond location on the same or different sample tube rack, wherein thecontrol system moves the robotic arm to configure the end of arm toolingabove the first location, wherein a vacuum is applied via the vacuumsource, thereby providing a suction force through the end of armtooling, wherein the sample tube is picked up from the first locationand retained by the end of arm tooling via vacuum suction, wherein thecontrol system moves the robotic arm to configure the end of arm toolingwith the retained sample tube above the second location, wherein thevacuum is terminated and positive air pressure is applied through theend of arm tooling to expel the sample tube in the second location, andwherein the presence of the sample tube in the first location and/orsecond location is determined by reading of coded information on thesample tube by the vision system.
 21. A method according to claim 20,wherein the control system lowers the robotic arm before the sample tubeis picked up, raises the robotic arm when it is moved to configure theend of arm tooling above the second location, and lowers the robotic armbefore the sample tube is expelled in the second location.
 22. A methodaccording to claim 20, wherein the robotic arm is a SCARA, comprising: afirst horizontal arm segment comprising: a first proximal end that isconfigured to be lifted by the lift shaft and is configured for pivotalmovement around the base, and a first distal end; a second horizontalarm segment comprising: a second proximal end that is rotatably coupledto the first distal end, and a second distal end; a third horizontal armsegment comprising: a third proximal end that is rotatably coupled tothe second distal end, and a third distal end; and the end of armtooling connected to the third distal end. 23.-26. (canceled)
 27. Amethod according to claim 20, wherein the vacuum source and the airsource are produced with a vacuum pump that creates a vacuum through theventuri effect, wherein a vacuum is produced when compressed air flowsthrough a venturi, providing a suction force whereby the sample tube ispicked up from the first location, and wherein positive air pressure isproduced when the flow of compressed air is terminated, therebyexpelling the sample tube in the second location.
 28. A method accordingto claim 20, wherein the coded information comprises one-dimensional,two-dimensional, or three-dimensional bar codes on sample tubes and/oron sample racks.
 29. A method according to claim 20, wherein each sampletube in the tube rack comprises unique coded information on the bottomof the tube, wherein the tube rack comprises openings such that thecoded information on the sample tubes is viewable through the bottom ofthe tube rack, wherein the vision system is configured beneath thebottom of the tube rack, and wherein the vision system records thelocations of coded information when the tube rack is positioned abovethe vision system.
 30. A method according to claim 20, wherein eachsample tube rack comprises unique coded information on at least oneside, wherein the sample tube rack and the vision system are configuredsuch that the coded information is recorded by the vision system whenthe tube rack is positioned above the vision system.
 31. A methodaccording to claim 20, wherein the vision system comprises three visioncamera systems that are aligned to read coded information from a sampletube or sample tube rack when it is located in a position above thevision system.
 32. A method according to claim 20, wherein the devicefurther comprises a tube sensor that senses whether a sample tube hasbeen picked up by the end of arm tooling when the vacuum is applied. 33.A method according to claim 20, wherein 20 or more sample tubes perminute are sorted.
 34. A device according to claim 1, wherein thecontrol system comprises a laboratory information management system(LIMS).